OpenRaiser/Intern-Atlas huggingface dataset:
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem
Venue: arXiv cs.RO 2022
Year: 2022

Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the complex interplay between the controller and morphology. In this paper, we propose a learning-based control method that can inherently take morphology into consideration such that once the control policy is trained in the simulator, it can be easily deployed to robots with different embodiments in the real world. In particular, we present the Embodiment-aware Transformer (EAT), an architecture that casts this control problem as conditional sequence modeling. EAT outputs the optimal actions by leveraging a causally masked Transformer. By conditioning an autoregressive model on the desired robot embodiment, past states, and actions, our EAT model can generate future actions that best fit the current robot embodiment. Experimental results show that EAT can outperform all other alternatives in embodiment-varying tasks, and succeed in an example of real-world evolution tasks: stepping down a stair through updating the morphology alone. We hope that EAT will inspire a new push toward real-world evolution across many domains, where algorithms like EAT can blaze a trail by bridging the field of evolutionary robotics and big data sequence modeling.
Synthesis and Evaluation of a Domain-specific Large Data Set for Dungeons & Dragons
Venue: arXiv cs.CL 2022
Year: 2022

This paper introduces the Forgotten Realms Wiki (FRW) data set and domain specific natural language generation using FRW along with related analyses. Forgotten Realms is the de-facto default setting of the popular open ended tabletop fantasy role playing game, Dungeons & Dragons. The data set was extracted from the Forgotten Realms Fandom wiki consisting of more than over 45,200 articles. The FRW data set is constituted of 11 sub-data sets in a number of formats: raw plain text, plain text annotated by article title, directed link graphs, wiki info-boxes annotated by the wiki article title, Poincaré embedding of first link graph, multiple Word2Vec and Doc2Vec models of the corpus. This is the first data set of this size for the Dungeons & Dragons domain. We then present a pairwise similarity comparison benchmark which utilizes similarity measures. In addition, we perform D&D domain specific natural language generation using the corpus and evaluate the named entity classification with respect to the lore of Forgotten Realms.
FileDAG: A Multi-Version Decentralized Storage Network Built on DAG-based Blockchain
Venue: arXiv cs.DC 2022
Year: 2022

Decentralized Storage Networks (DSNs) can gather storage resources from mutually untrusted providers and form worldwide decentralized file systems. Compared to traditional storage networks, DSNs are built on top of blockchains, which can incentivize service providers and ensure strong security. However, existing DSNs face two major challenges. First, deduplication can only be achieved at the directory-level. Missing file-level deduplication leads to unavoidable extra storage and bandwidth cost. Second, current DSNs realize file indexing by storing extra metadata while blockchain ledgers are not fully exploited. To overcome these problems, we propose FileDAG, a DSN built on DAG-based blockchain to support file-level deduplication in storing multi-versioned files. When updating files, we adopt an increment generation method to calculate and store only the increments instead of the entire updated files. Besides, we introduce a two-layer DAG-based blockchain ledger, by which FileDAG can provide flexible and storage-saving file indexing by directly using the blockchain database without incurring extra storage overhead. We implement FileDAG and evaluate its performance with extensive experiments. The results demonstrate that FileDAG outperforms the state-of-the-art industrial DSNs considering storage cost and latency.
Medical Diagnosis with Large Scale Multimodal Transformers: Leveraging Diverse Data for More Accurate Diagnosis
Venue: arXiv cs.LG 2022
Year: 2022

Multimodal deep learning has been used to predict clinical endpoints and diagnoses from clinical routine data. However, these models suffer from scaling issues: they have to learn pairwise interactions between each piece of information in each data type, thereby escalating model complexity beyond manageable scales. This has so far precluded a widespread use of multimodal deep learning. Here, we present a new technical approach of "learnable synergies", in which the model only selects relevant interactions between data modalities and keeps an "internal memory" of relevant data. Our approach is easily scalable and naturally adapts to multimodal data inputs from clinical routine. We demonstrate this approach on three large multimodal datasets from radiology and ophthalmology and show that it outperforms state-of-the-art models in clinically relevant diagnosis tasks. Our new approach is transferable and will allow the application of multimodal deep learning to a broad set of clinically relevant problems.
Blockchain Interoperability Landscape
Venue: arXiv cs.CR 2022
Year: 2022

Blockchain has become a popular emergent technology in many industries. It is suitable for a broad range of applications, from its base role as an immutable distributed ledger to the deployment of distributed applications. Many organizations are adopting the technology, but choosing a specific blockchain implementation in an emerging field exposes them to significant technology risk. Selecting the wrong implementation could expose an organization to security vulnerabilities, reduce access to its target audience, or cause issues in the future when switching to a more mature protocol. Blockchain interoperability aims to solve this adaptability problem by increasing the extensibility of blockchain, enabling the addition of new use cases and features without sacrificing the performance of the original blockchain. However, most existing blockchain platforms need to be designed for interoperability, and simple operations like sending assets across platforms create problems. Cryptographic protocols that are secure in isolation may become insecure when several different (individually secure) protocols are composed. Similarly, utilizing trusted custodians may undercut most of the benefits of decentralization offered by blockchain-based systems. Even though there is some research and development in the field of blockchain interoperability, a characterization of the interoperability solutions for various infrastructure options is lacking. This paper presents a methodology for characterizing blockchain interoperability solutions that will help focus on new developments and evaluate existing and future solutions in this space.
Building Height Prediction with Instance Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Extracting building heights from satellite images is an active research area used in many fields such as telecommunications, city planning, etc. Many studies utilize DSM (Digital Surface Models) generated with lidars or stereo images for this purpose. Predicting the height of the buildings using only RGB images is challenging due to the insufficient amount of data, low data quality, variations of building types, different angles of light and shadow, etc. In this study, we present an instance segmentation-based building height extraction method to predict building masks with their respective heights from a single RGB satellite image. We used satellite images with building height annotations of certain cities along with an open-source satellite dataset with the transfer learning approach. We reached, the bounding box mAP 59, the mask mAP 52.6, and the average accuracy value of 70% for buildings belonging to each height class in our test set.
Transferring General Multimodal Pretrained Models to Text Recognition
Venue: arXiv cs.CV 2022
Year: 2022

This paper proposes a new method, OFA-OCR, to transfer multimodal pretrained models to text recognition. Specifically, we recast text recognition as image captioning and directly transfer a unified vision-language pretrained model to the end task. Without pretraining on large-scale annotated or synthetic text recognition data, OFA-OCR outperforms the baselines and achieves state-of-the-art performance in the Chinese text recognition benchmark. Additionally, we construct an OCR pipeline with OFA-OCR, and we demonstrate that it can achieve competitive performance with the product-level API. The code (https://github.com/OFA-Sys/OFA) and demo (https://modelscope.cn/studios/damo/ofa_ocr_pipeline/summary) are publicly available.
Stochastic stability analysis of legged locomotion using unscented transformation
Venue: arXiv cs.RO 2022
Year: 2022

In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods for stability analysis in such systems often required high-dimensional state space discretization and a broad set of initial conditions, resulting in significant computational complexity. Our approach aims to alleviate this issue by reducing the dimensionality of the system and utilizing the unscented transformation to estimate the output distribution. This technique allows us to account for multiple sources of uncertainty and high-dimensional system dynamics, while leveraging prior knowledge of noise statistics to inform the selection of initial conditions for experiments. As a result, our method enables the efficient assessment of controller performance and analysis of parametric dependencies with fewer experiments. To demonstrate the efficacy of our proposed method, we apply it to the analysis of a one-dimensional hopper and an underactuated bipedal walking simulation with a hybrid zero dynamics controller.
TAS-NIR: A VIS+NIR Dataset for Fine-grained Semantic Segmentation in Unstructured Outdoor Environments
Venue: arXiv cs.CV 2022
Year: 2022

Vegetation Indices based on paired images of the visible color spectrum (VIS) and near infrared spectrum (NIR) have been widely used in remote sensing applications. These vegetation indices are extended for their application in autonomous driving in unstructured outdoor environments. In this domain we can combine traditional vegetation indices like the Normalized Difference Vegetation Index (NDVI) and Enhanced Vegetation Index (EVI) with Convolutional Neural Networks (CNNs) pre-trained on available VIS datasets. By laying a focus on learning calibrated CNN outputs, we can provide an approach to fuse known hand-crafted image features with CNN predictions for different domains as well. The method is evaluated on a VIS+NIR dataset of semantically annotated images in unstructured outdoor environments. The dataset is available at mucar3.de/iros2022-ppniv-tas-nir.
Enriching Relation Extraction with OpenIE
Venue: arXiv cs.CL 2022
Year: 2022

Relation extraction (RE) is a sub-discipline of information extraction (IE) which focuses on the prediction of a relational predicate from a natural-language input unit (such as a sentence, a clause, or even a short paragraph consisting of multiple sentences and/or clauses). Together with named-entity recognition (NER) and disambiguation (NED), RE forms the basis for many advanced IE tasks such as knowledge-base (KB) population and verification. In this work, we explore how recent approaches for open information extraction (OpenIE) may help to improve the task of RE by encoding structured information about the sentences' principal units, such as subjects, objects, verbal phrases, and adverbials, into various forms of vectorized (and hence unstructured) representations of the sentences. Our main conjecture is that the decomposition of long and possibly convoluted sentences into multiple smaller clauses via OpenIE even helps to fine-tune context-sensitive language models such as BERT (and its plethora of variants) for RE. Our experiments over two annotated corpora, KnowledgeNet and FewRel, demonstrate the improved accuracy of our enriched models compared to existing RE approaches. Our best results reach 92% and 71% of F1 score for KnowledgeNet and FewRel, respectively, proving the effectiveness of our approach on competitive benchmarks.
Smart Journey in Istanbul: A Mobile Application in Smart Cities for Traffic Estimation by Harnessing Time Series
Venue: arXiv cs.AI 2022
Year: 2022

In recent decades, mobile applications (apps) have gained enormous popularity. Smart services for smart cities increasingly gain attention. The main goal of the proposed research is to present a new AI-powered mobile application on Istanbul's traffic congestion forecast by using traffic density data. It addresses the research question by using time series approaches (LSTM, Transformer, and XGBoost) based on past data over the traffic load dataset combined with meteorological conditions. Analysis of simulation results on predicted models will be discussed according to performance indicators such as MAPE, MAE, and RMSE. And then, it was observed that the Transformer model made the most accurate traffic prediction. The developed traffic forecasting prototype is expected to be a starting point on future products for a mobile application suitable for citizens' daily use.
Hardware Acceleration of Lane Detection Algorithm: A GPU Versus FPGA Comparison
Venue: arXiv cs.CV 2022
Year: 2022

A Complete Computer vision system can be divided into two main categories: detection and classification. The Lane detection algorithm is a part of the computer vision detection category and has been applied in autonomous driving and smart vehicle systems. The lane detection system is responsible for lane marking in a complex road environment. At the same time, lane detection plays a crucial role in the warning system for a car when departs the lane. The implemented lane detection algorithm is mainly divided into two steps: edge detection and line detection. In this paper, we will compare the state-of-the-art implementation performance obtained with both FPGA and GPU to evaluate the trade-off for latency, power consumption, and utilization. Our comparison emphasises the advantages and disadvantages of the two systems.
Improving the Generalizability of Text-Based Emotion Detection by Leveraging Transformers with Psycholinguistic Features
Venue: arXiv cs.CL 2022
Year: 2022

In recent years, there has been increased interest in building predictive models that harness natural language processing and machine learning techniques to detect emotions from various text sources, including social media posts, micro-blogs or news articles. Yet, deployment of such models in real-world sentiment and emotion applications faces challenges, in particular poor out-of-domain generalizability. This is likely due to domain-specific differences (e.g., topics, communicative goals, and annotation schemes) that make transfer between different models of emotion recognition difficult. In this work we propose approaches for text-based emotion detection that leverage transformer models (BERT and RoBERTa) in combination with Bidirectional Long Short-Term Memory (BiLSTM) networks trained on a comprehensive set of psycholinguistic features. First, we evaluate the performance of our models within-domain on two benchmark datasets: GoEmotion and ISEAR. Second, we conduct transfer learning experiments on six datasets from the Unified Emotion Dataset to evaluate their out-of-domain robustness. We find that the proposed hybrid models improve the ability to generalize to out-of-distribution data compared to a standard transformer-based approach. Moreover, we observe that these models perform competitively on in-domain data.
A Model Driven Approach on Object Oriented PLC Programming for Manufacturing Systems with regard to Usability
Venue: arXiv cs.SE 2022
Year: 2022

This paper presents the modular automation for reuse in manufacturing systems (modAT4rMS) approach to support the model-driven engineering (MDE) of object oriented manufacturing automation software with regard to its usability and software modularity. With usability we refer to the aspects effectiveness, efficiency and user acceptance, as defined by ISO 9241-11. The modAT4rMS notations are based on selected features from the Unified Modeling Language (UML) and the Systems Modeling language (SysML) and iteratively further developed by a series of empirical studies with industrial practitioners as well as mechatronics trainees. With modAT4rMS a MDE approach for Programmable Logic Controller (PLC) programming was developed with the goal to facilitate modular object oriented programming of PLC software by improving the representation of the relationships between the structure and behavior diagram types and by reducing the level of abstraction in the structure model. modAT4rMS notations for PLC software structure and software behavior modeling are presented and illustrated with a modeling example using a modAT4rMS editor prototype. For the evaluation of the developed notations the results from a study with 168 participants is presented, showing the benefits of this new approach in comparison to the classic procedural paradigm (IEC 61131-3) and the domain specific UML profile plcML in regard to programming performance and usability aspects. Finally the advantages and limitations of the approach are discussed and an outlook for further development is given.
Using Microbenchmark Suites to Detect Application Performance Changes
Venue: arXiv cs.PF 2022
Year: 2022

Software performance changes are costly and often hard to detect pre-release. Similar to software testing frameworks, either application benchmarks or microbenchmarks can be integrated into quality assurance pipelines to detect performance changes before releasing a new application version. Unfortunately, extensive benchmarking studies usually take several hours which is problematic when examining dozens of daily code changes in detail; hence, trade-offs have to be made. Optimized microbenchmark suites, which only include a small subset of the full suite, are a potential solution for this problem, given that they still reliably detect the majority of the application performance changes such as an increased request latency. It is, however, unclear whether microbenchmarks and application benchmarks detect the same performance problems and one can be a proxy for the other. In this paper, we explore whether microbenchmark suites can detect the same application performance changes as an application benchmark. For this, we run extensive benchmark experiments with both the complete and the optimized microbenchmark suites of the two time-series database systems InuxDB and VictoriaMetrics and compare their results to the results of corresponding application benchmarks. We do this for 70 and 110 commits, respectively. Our results show that it is possible to detect application performance changes using an optimized microbenchmark suite if frequent false-positive alarms can be tolerated.
MIST: Multi-modal Iterative Spatial-Temporal Transformer for Long-form Video Question Answering
Venue: arXiv cs.CV 2022
Year: 2022

To build Video Question Answering (VideoQA) systems capable of assisting humans in daily activities, seeking answers from long-form videos with diverse and complex events is a must. Existing multi-modal VQA models achieve promising performance on images or short video clips, especially with the recent success of large-scale multi-modal pre-training. However, when extending these methods to long-form videos, new challenges arise. On the one hand, using a dense video sampling strategy is computationally prohibitive. On the other hand, methods relying on sparse sampling struggle in scenarios where multi-event and multi-granularity visual reasoning are required. In this work, we introduce a new model named Multi-modal Iterative Spatial-temporal Transformer (MIST) to better adapt pre-trained models for long-form VideoQA. Specifically, MIST decomposes traditional dense spatial-temporal self-attention into cascaded segment and region selection modules that adaptively select frames and image regions that are closely relevant to the question itself. Visual concepts at different granularities are then processed efficiently through an attention module. In addition, MIST iteratively conducts selection and attention over multiple layers to support reasoning over multiple events. The experimental results on four VideoQA datasets, including AGQA, NExT-QA, STAR, and Env-QA, show that MIST achieves state-of-the-art performance and is superior at computation efficiency and interpretability.
Towards Assessing Data Bias in Clinical Trials
Venue: arXiv cs.CY 2022
Year: 2022

Algorithms and technologies are essential tools that pervade all aspects of our daily lives. In the last decades, health care research benefited from new computer-based recruiting methods, the use of federated architectures for data storage, the introduction of innovative analyses of datasets, and so on. Nevertheless, health care datasets can still be affected by data bias. Due to data bias, they provide a distorted view of reality, leading to wrong analysis results and, consequently, decisions. For example, in a clinical trial that studied the risk of cardiovascular diseases, predictions were wrong due to the lack of data on ethnic minorities. It is, therefore, of paramount importance for researchers to acknowledge data bias that may be present in the datasets they use, eventually adopt techniques to mitigate them and control if and how analyses results are impacted. This paper proposes a method to address bias in datasets that: (i) defines the types of data bias that may be present in the dataset, (ii) characterizes and quantifies data bias with adequate metrics, (iii) provides guidelines to identify, measure, and mitigate data bias for different data sources. The method we propose is applicable both for prospective and retrospective clinical trials. We evaluate our proposal both through theoretical considerations and through interviews with researchers in the health care environment.
Human-in-the-loop Abstractive Dialogue Summarization
Venue: arXiv cs.CL 2022
Year: 2022

Abstractive dialogue summarization has received increasing attention recently. Despite the fact that most of the current dialogue summarization systems are trained to maximize the likelihood of human-written summaries and have achieved significant results, there is still a huge gap in generating high-quality summaries as determined by humans, such as coherence and faithfulness, partly due to the misalignment in maximizing a single human-written summary. To this end, we propose to incorporate different levels of human feedback into the training process. This will enable us to guide the models to capture the behaviors humans care about for summaries. Specifically, we ask humans to highlight the salient information to be included in summaries to provide the local feedback , and to make overall comparisons among summaries in terms of coherence, accuracy, coverage, concise and overall quality, as the global feedback. We then combine both local and global feedback to fine-tune the dialog summarization policy with Reinforcement Learning. Experiments conducted on multiple datasets demonstrate the effectiveness and generalization of our methods over the state-of-the-art supervised baselines, especially in terms of human judgments.